├── .gitignore ├── LICENSE ├── README.md ├── _datasets └── indices.txt ├── docs ├── ASSET_GENERATION.md ├── PLANNER.md ├── RAYDROPPING.md ├── REQUIREMENTS.md ├── SCENE_GENERATION.md ├── VOXEL_BASELINE.md └── assets │ └── teaser.gif ├── examples ├── notebook_kitti.ipynb ├── notebook_waymax.ipynb └── utils.py ├── install_lidardm.sh ├── lidardm ├── __init__.py ├── core │ ├── __init__.py │ ├── configs │ │ ├── callbacks │ │ │ ├── checkpoints.yaml │ │ │ ├── default.yaml │ │ │ ├── default_map.yaml │ │ │ ├── default_planner.yaml │ │ │ └── monitors.yaml │ │ ├── data │ │ │ ├── kitti360_fields.yaml │ │ │ ├── waymo_fields.yaml │ │ │ ├── waymo_planning.yaml │ │ │ └── waymo_seq.yaml │ │ ├── default.yaml │ │ ├── experiment │ │ │ ├── kf_s_unet.yaml │ │ │ ├── kf_s_vae.yaml │ │ │ ├── map_vae_waymo.yaml │ │ │ ├── planning.yaml │ │ │ ├── planning_generated.yaml │ │ │ ├── planning_resume.yaml │ │ │ ├── w_s_unetc_seq.yaml │ │ │ ├── wf_s_unet.yaml │ │ │ ├── wf_s_unetc.yaml │ │ │ └── wf_s_vae.yaml │ │ ├── loggers │ │ │ ├── csv.yaml │ │ │ ├── default.yaml │ │ │ ├── tensorboard.yaml │ │ │ └── wandb.yaml │ │ ├── losses │ │ │ ├── default_autoencoder.yaml │ │ │ ├── default_diffusion.yaml │ │ │ ├── default_field.yaml │ │ │ ├── default_map.yaml │ │ │ ├── latent.yaml │ │ │ ├── mse.yaml │ │ │ ├── recon.yaml │ │ │ ├── sigmoid_mse.yaml │ │ │ └── softmax_plan.yaml │ │ ├── metrics │ │ │ ├── default_aligned_autoencoder.yaml │ │ │ ├── default_autoencoder.yaml │ │ │ ├── default_diffusion.yaml │ │ │ ├── default_diffusion_eval.yaml │ │ │ └── no_metrics.yaml │ │ ├── model │ │ │ ├── diffusion_fields.yaml │ │ │ ├── diffusion_fields_cond.yaml │ │ │ ├── diffusion_seq_cond.yaml │ │ │ ├── map_vae_waymo.yaml │ │ │ ├── planning_resnet.yaml │ │ │ ├── planning_resnet_map.yaml │ │ │ ├── vae_fields_s.yaml │ │ │ └── vae_s.yaml │ │ ├── optimizer │ │ │ └── adamw.yaml │ │ ├── scheduler │ │ │ └── cosine.yaml │ │ ├── trainer │ │ │ └── default.yaml │ │ └── visualizers │ │ │ ├── cost.yaml │ │ │ ├── default.yaml │ │ │ └── planner.yaml │ ├── datasets │ │ ├── __init__.py │ │ ├── kitti360_fields.py │ │ ├── utils.py │ │ ├── waymo_fields.py │ │ ├── waymo_planning.py │ │ └── waymo_seq.py │ ├── losses │ │ ├── __init__.py │ │ ├── collection.py │ │ ├── latent.py │ │ ├── mse.py │ │ ├── sigmoid_mse.py │ │ ├── softmax_plan.py │ │ └── xent.py │ ├── metrics │ │ ├── __init__.py │ │ ├── jaccard.py │ │ ├── jsd.py │ │ └── mmd.py │ ├── models │ │ ├── __init__.py │ │ ├── diffusion.py │ │ ├── gumbel_sigmoid.py │ │ ├── planning_unet.py │ │ ├── unet.py │ │ ├── utils.py │ │ └── vae.py │ ├── schedulers │ │ └── modified_schedulers.py │ ├── services │ │ └── sampling.py │ ├── utils │ │ ├── __init__.py │ │ ├── instantiators.py │ │ └── modules │ │ │ ├── __init__.py │ │ │ ├── data.py │ │ │ └── model.py │ └── visualizers │ │ ├── __init__.py │ │ ├── collection.py │ │ ├── cost_visualizer.py │ │ ├── plan_visualizer.py │ │ └── visualizer.py ├── lidar_generation │ ├── README.md │ ├── __init__.py │ ├── raydropping │ │ ├── LICENSE │ │ ├── README.md │ │ ├── common │ │ │ ├── __init__.py │ │ │ ├── avgmeter.py │ │ │ ├── sync_batchnorm │ │ │ │ ├── __init__.py │ │ │ │ ├── batchnorm.py │ │ │ │ ├── comm.py │ │ │ │ └── replicate.py │ │ │ └── warmupLR.py │ │ ├── config │ │ │ ├── kitti360.yaml │ │ │ └── waymo.yaml │ │ ├── datasets │ │ │ ├── kitti360_raycast.py │ │ │ └── waymo_raycast.py │ │ ├── model │ │ │ ├── backbones │ │ │ │ ├── __init__.py │ │ │ │ ├── darknet.py │ │ │ │ ├── squeezeseg.py │ │ │ │ └── squeezesegV2.py │ │ │ ├── decoders │ │ │ │ ├── __init__.py │ │ │ │ ├── darknet.py │ │ │ │ ├── squeezeseg.py │ │ │ │ └── squeezesegV2.py │ │ │ ├── parser.py │ │ │ └── raydropper.py │ │ └── utils │ │ │ ├── infer.py │ │ │ ├── train.py │ │ │ └── trainer.py │ └── scene_composition │ │ ├── __init__.py │ │ ├── agents │ │ └── agent.py │ │ ├── compositors │ │ ├── __init__.py │ │ ├── generative_compositor.py │ │ ├── scene_compositor.py │ │ ├── trajectory_sampler.py │ │ └── waymo_compositor.py │ │ ├── scripts │ │ ├── conditional_comp.py │ │ ├── random_obj.py │ │ └── unconditional_comp.py │ │ └── utils │ │ ├── raycast.py │ │ ├── raycast_configs.py │ │ └── utils.py ├── planning │ ├── path_k_means.py │ └── utils.py ├── visualization │ ├── __init__.py │ ├── cond2rgb.py │ ├── dataset2sample.py │ ├── meshify.py │ ├── open3d.py │ ├── range_consistency.py │ ├── raycasting.py │ └── unvoxelize.py └── waymax │ ├── path_generation │ ├── LICENSE.txt │ ├── README.md │ ├── __init__.py │ ├── lookup_table.csv │ ├── motion_model.py │ ├── state_lattice_planner.py │ └── trajectory_generator.py │ ├── waymax_agent.py │ ├── waymax_compositor.py │ ├── waymax_map.py │ └── waymax_utils.py ├── scripts ├── anim_ped │ ├── README.md │ ├── export_fbx.py │ ├── poses │ │ └── stand_pose.npy │ ├── script.py │ └── utils │ │ ├── fbx_utils.py │ │ └── ply_utils.py ├── dataset │ ├── converter.py │ ├── field_generation │ │ ├── common_field_generation.py │ │ ├── kitti360_field_generation.py │ │ └── waymo_field_generation.py │ ├── preprocess │ │ ├── kitti360_preprocess.py │ │ ├── waymo_map_utils.py │ │ └── waymo_preprocess.py │ └── raycast │ │ ├── kitti360_raycast.py │ │ └── waymo_raycast.py ├── diffusion │ ├── diffusion_generate_dataset.py │ ├── diffusion_sample_baselines.py │ └── diffusion_sample_field.py ├── metric │ ├── eval_mmd_jsd.py │ ├── planning_metrics.py │ └── point2plane.py ├── planning │ └── generate_clusters.py ├── train.py └── util │ └── move_lidar.py └── setup.py /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/vzyrianov/LidarDM/HEAD/.gitignore -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/vzyrianov/LidarDM/HEAD/LICENSE -------------------------------------------------------------------------------- /README.md: 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